Functions | |
| def | cleanup () |
| def | globalPathCallback (data) |
| def | goalCallback (d) |
| def | goalStatusCallback (data) |
| def | intialPoseCallback (data) |
| def | move (ox, oy, oth, tx, ty, tth, gth) |
| def | odomCallback (data) |
| def | pathCallback (data) |
Variables | |
| float | degperms = 0.0857 |
| bool | followpath = False |
| int | globalpathposenum = 20 |
| bool | goalpose = False |
| bool | goalseek = False |
| int | goalth = 0 |
| bool | initialturn = False |
| int | lastpath = 0 |
| listener = None | |
| float | listentime = 0.6 |
| float | maxlinear = 0.5 |
| float | meterspersec = 0.33 |
| float | minlinear = 0.08 |
| minturn = math.radians(8) | |
| int | nextmove = 0 |
| int | odomth = 0 |
| int | odomx = 0 |
| int | odomy = 0 |
| pathid = None | |
| t = rospy.get_time() | |
| int | targetth = 0 |
| int | targetx = 0 |
| int | targety = 0 |
| int | tfth = 0 |
| int | waitonaboutface = 0 |
on any new /initialpose, do full rotation, then delay (to hone in amcl)
follow something ~15th pose in global path for all moves (about 0.3m away?)
-maximum path length seems to be about 35*5 (45*5 max) for 2-3 meter path
-(longer if more turns -- go for 15th or 20th pose, or max if less, should be OK)
ignore local path, except for determining if at goal or not
if no recent local path, must be at goal: followpath = False, goalpose = true
requires dwa_base_controller, global path updated continuously as bot moves | def global_path_follower.cleanup | ( | ) |
Definition at line 209 of file global_path_follower.py.
| def global_path_follower.globalPathCallback | ( | data | ) |
Definition at line 59 of file global_path_follower.py.
| def global_path_follower.goalCallback | ( | d | ) |
Definition at line 107 of file global_path_follower.py.
| def global_path_follower.goalStatusCallback | ( | data | ) |
Definition at line 123 of file global_path_follower.py.
| def global_path_follower.intialPoseCallback | ( | data | ) |
Definition at line 97 of file global_path_follower.py.
| def global_path_follower.move | ( | ox, | |
| oy, | |||
| oth, | |||
| tx, | |||
| ty, | |||
| tth, | |||
| gth | |||
| ) |
Definition at line 132 of file global_path_follower.py.
| def global_path_follower.odomCallback | ( | data | ) |
Definition at line 80 of file global_path_follower.py.
| def global_path_follower.pathCallback | ( | data | ) |
Definition at line 53 of file global_path_follower.py.
| float global_path_follower.degperms = 0.0857 |
Definition at line 47 of file global_path_follower.py.
| bool global_path_follower.followpath = False |
Definition at line 35 of file global_path_follower.py.
| int global_path_follower.globalpathposenum = 20 |
Definition at line 49 of file global_path_follower.py.
| bool global_path_follower.goalpose = False |
Definition at line 44 of file global_path_follower.py.
| bool global_path_follower.goalseek = False |
Definition at line 45 of file global_path_follower.py.
| int global_path_follower.goalth = 0 |
Definition at line 37 of file global_path_follower.py.
| bool global_path_follower.initialturn = False |
Definition at line 38 of file global_path_follower.py.
| int global_path_follower.lastpath = 0 |
Definition at line 43 of file global_path_follower.py.
| global_path_follower.listener = None |
Definition at line 50 of file global_path_follower.py.
| float global_path_follower.listentime = 0.6 |
Definition at line 27 of file global_path_follower.py.
| float global_path_follower.maxlinear = 0.5 |
Definition at line 42 of file global_path_follower.py.
| float global_path_follower.meterspersec = 0.33 |
Definition at line 46 of file global_path_follower.py.
| float global_path_follower.minlinear = 0.08 |
Definition at line 41 of file global_path_follower.py.
| global_path_follower.minturn = math.radians(8) |
Definition at line 40 of file global_path_follower.py.
| global_path_follower.nextmove = 0 |
Definition at line 28 of file global_path_follower.py.
| int global_path_follower.odomth = 0 |
Definition at line 31 of file global_path_follower.py.
| int global_path_follower.odomx = 0 |
Definition at line 29 of file global_path_follower.py.
| int global_path_follower.odomy = 0 |
Definition at line 30 of file global_path_follower.py.
| global_path_follower.pathid = None |
Definition at line 36 of file global_path_follower.py.
| global_path_follower.t = rospy.get_time() |
Definition at line 239 of file global_path_follower.py.
| int global_path_follower.targetth = 0 |
Definition at line 34 of file global_path_follower.py.
| int global_path_follower.targetx = 0 |
Definition at line 32 of file global_path_follower.py.
| int global_path_follower.targety = 0 |
Definition at line 33 of file global_path_follower.py.
| int global_path_follower.tfth = 0 |
Definition at line 48 of file global_path_follower.py.
| int global_path_follower.waitonaboutface = 0 |
Definition at line 39 of file global_path_follower.py.